机械原理 英汉双语 教学课件 作者 张春林 Chapter 10 Spatial Mechanisms and Robotic Mechanisms.pptx

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1、Chapter10SpatialMechanismsandRoboticMechanisms1.SpatialKinematicalPairs(1)ClassⅠkinematicpairsAsphereisplacedonanevenplaneshowninFig10-1a.(2)ClassⅡkinematicpairsEachclassⅡkinematicpairofferstwoconstraintsandhasfourdegreesoffreedom.Fig.10-1bshowsacylinderplanepairwhichconstrainsthe

2、translationalmotionalongthezaxisandtherotationalmotionaboutthexaxis.10.1IntroductionofSpatialMechanismsFig.10-1　Spatialkinematicpairs1(空间运动副1)(3)ClassⅢkinematicpairsEachclassⅢkinematicpairoffersthreeconstraintsandthreedegreesoffreedom.Fig.10-2ashowsasphericalpairwhichconstrainstra

3、nslationalmotionsalongthex,yandzaxeswhileoffersthreerotationalmotionsabouttheseaxes,denotedasS.Fig.10-2bshowsthesketchdiagramofthesphericalpair.Thispairiswidelyusedinspatialmechanisms.Fig.10-2　Spatialkinematicpairs2(空间运动副2)(4)ClassⅣkinematicpairsEveryclassⅣkinematicpairoffersfour

4、constraintsandtwodegreesoffreedom.Fig.10-3ashowsaspherepinpairwhichhasonlytworotationaldegreesoffreedombecauseoftheconstraintofthepin.ThespherepinpairisdenotedasS′.Fig.10-3bisitssketchdiagram.Fig10-cshowsacylinderpairwhichpermitsthetranslationalmotionalongitsaxesandtherotationalmo

5、tionaboutthesameaxis.Fig10-dshowsitssketchdiagramanddenotedasC.Fig.10-3　Spatialkinematicpairs3(空间运动副3)(5)ClassⅤkinematicpairsAclassⅤkinematicpairoffersfiveconstraintsandonedegreeoffreedom.Fig10-4ashowsarevolutepairwhichhasonlyonerotationaldegreeoffreedom.Fig10-4bisitssketch,denote

6、dasR.Fig10-4cshowsaprismaticpairwhichhasonlyonedegreeoffreedomthatpermitsittoexecutetranslationalmotionalongtheaxes,denotedasP.Fig.10-4dshowsitssketch.Fig10-4eshowsahelicalpairwhichpermitsthetranslationalmotionalongitsaxisandtherotationalmotionaboutthesameaxis.Fig.10-4　Spacialkine

7、maticpairs4(空间运动副4)2.DegreesofFreedomofSpatialMechanismsWeassumethatthereareclassⅠkinematicpairsofp1,sotheycanofferconstraintsof1p1.Similarly,classⅡkinematicpairsofp2canofferconstraintsof2p2,classⅢkinematicpairsofp3canofferconstraintsof3p3,classⅣkinematicpairsofp4canofferconstrai

8、ntsof4p4,andclassⅤkinematicpairso